An Approach for 2D Visual Occupancy Grid Map Using Monocular Vision | Zendy

André M. Santana | Zendy; Kelson Aires | Zendy; Rodrigo Veras | Zendy; Adelardo Adelino Dantas de Medeiros | Zendy

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An Approach for 2D Visual Occupancy Grid Map Using Monocular Vision

Author(s) -

André M. Santana,

Kelson Aires,

Rodrigo Veras,

Adelardo Adelino Dantas de Medeiros

Publication year - 2011

Publication title -

electronic notes in theoretical computer science

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.242

H-Index - 60

ISSN - 1571-0661

DOI - 10.1016/j.entcs.2011.11.033

Subject(s) - occupancy grid mapping , computer vision , artificial intelligence , monocular , computer science , monocular vision , grid , homography , segmentation , image (mathematics) , occupancy , mathematics , engineering , mobile robot , robot , architectural engineering , statistics , geometry , projective test , projective space

This paper presents an approach that uses planar information (homography matrix) to build a visual 2D occupancy grid map from monocular vision. Initially, a segmentation step is necessary to classify parts of the image in floor or non floor. From this classification is possible to determine which parts of the image are free and which parts of the image are obstacles. Practical results are presented to validate the proposal

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